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Some Codes developed in My Research

 

Automatic Code Generation System for Nonlinear Receding Horizon Control: Algorithm based on the Continuation Method and GMRES

AutoGenU.zip : Mathematica Notebook for Automatic Code Generation and Other Necessary Files (Minor Update for Mathematica ver. 9)

See also

  1. Ohtsuka, T., “A Continuation/GMRES Method for Fast Computation of Nonlinear Receding Horizon Control,” Automatica, Vol. 40, No. 4, Apr. 2004, pp. 563-574.
  2. Seguchi, H., and Ohtsuka, T., “Nonlinear Receding Horizon Control of an Underactuated Hovercraft,” International Journal of Robust and Nonlinear Control, Vol. 13, Nos. 3-4, Mar.-Apr. 2003, pp. 381-398.

 

Maple Version of AutoGenU (Developed by Cybernet Systems)

Maplesoft Application Center:

http://www.maplesoft.com/applications/view.aspx?SID=153555

 

Matlab Interface for AutoGenU (Developed by Kazuki Hirota)

cgmresforMATLAB.zip : Program for Generating a MEX Function from C Code Generated by AutoGenU

 

Automatic Code Generation System for Nonlinear Receding Horizon Control (Old Algorithm Based on Backward Sweep: Riccati Differential Equation)

AutoGen.nb : Mathematica Notebook for Automatic Code Generation

AutoGen.mc : Template of C Source File to be Generated

rhfunc.c : C Source File of Fundamental Functions

rhmain.c : C Source File Containing Main Function

input.m : Input File for Problem Settings and Simulation Conditions Given by the User

See also

  1. Ohtsuka, T., and Fujii, H. A., “Real-Time Optimization Algorithm for Nonlinear Receding-Horizon Control,” Automatica, Vol. 33, No. 6, June 1997, pp. 1147-1154. .
  2. Ohtsuka, T., “Time-Variant Receding-Horizon Control of Nonlinear Systems,” Journal of Guidance, Control, and Dynamics, Vol. 21, No. 1, Jan. 1998, pp. 174-176.
  3. Ohtsuka, T., and Kodama, A.,  “Automatic Code Generation System for Nonlinear Receding Horizon Control,” Transactions of the Society of Instrument and Control Engineers, Vol. 38, No. 7, July 2002, pp. 617-623.

 

Automatic Code Generation System for Nonlinear Moving Horizon State Estimation (Old Algorithm Based on Backward Sweep: Riccati Differential Equation)

SeGen.nb : Mathematica Notebook for Automatic Code Generation

SeGen.mc : Template of C Source File to be Generated

sefunc.c : C Source File of Fundamental Functions

semain.c : C Source File Containing Main Function

seinput.m : Input File for Problem Settings and Simulation Conditions Given by the User

See also

  1. Ohtsuka, T., and Fujii, H. A., “Nonlinear Receding-Horizon State Estimation by Real-Time Optimization Technique,” Journal of Guidance, Control, and Dynamics, Vol. 19, No. 4, July-Aug. 1996, pp. 863-870.
  2. Ohtsuka, T. “Nonlinear Receding-Horizon State Estimation with Unknown Disturbances,” Transactions of the Society of Instrument and Control Engineers, Vol. 35, No. 10, 1999, pp. 1253-1260. .

 

Packages Used in AutoGen.nb and SeGen.nb

Format:

http://library.wolfram.com/infocenter/MathSource/60/

Optimize:

http://library.wolfram.com/infocenter/MathSource/3947/

* A command "NProtectedAll" in the packages should be replaced with "NHoldAll". Then, rename those files as "Format2.m" and "Optimize2.m", respectively, and save them into a directory, "AddOns/Applications/FormatFolder" under the Mathematica directory (you need to create "FormatFolder" under "AddOns/Applications").
* In the case of AutoGenU, copy those files into "AddOns/Applications" (you don't have to make "FormatFolder").

 

Mathematica 3.0 Notebook to Construct an Immersion into Quadratic-in-the-State Representation

qsr.nb : Polynomial/Quadratic-in-the-State

qsr.txt : How to use qsr.nb

rsr.nb : Rational-in-the-State

rsr.txt : How to use rsr.nb

See also

  1. Ohtsuka, T., "Model Structure Simplification of Nonlinear Systems via Immersion," IEEE Transactions on Automatic Control, Vol. 50, No. 5, May 2005, pp. 607-618.